from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='originbot_formation',
            executable='originbot_tf2_broadcaster',
            name='broadcaster1',
            parameters=[
                {'robotname': 'robot1','odom_topic':'/robot1/odom'}
            ]
        ),
        Node(
            package='originbot_formation',
            executable='originbot_tf2_broadcaster',
            name='broadcaster2',
            parameters=[
                {'robotname': 'robot2','odom_topic':'/robot2/odom'}
            ]
        ),
        Node(
            package='originbot_formation',
            executable='originbot_tf2_broadcaster',
            name='broadcaster3',
            parameters=[
                {'robotname': 'robot3','odom_topic':'/robot3/odom'}
            ]
        ),
        Node(
             package='originbot_formation',
             executable='originbot_tf2_listener1',
             name='listener1'
        ),
        Node(
             package='originbot_formation',
             executable='originbot_tf2_listener2',
             name='listener2'
        ),
         
    ])
